Enhancing Visual Odometry with Estimated Scene Depth: Leveraging RGB-D Data with Deep Learning

Abstract

Advances in visual odometry (VO) systems have benefited from the widespread use of affordable RGB-D cameras, improving indoor localization and mapping accuracy. However, older sensors like the Kinect v1 face challenges due to depth inaccuracies and incomplete data. This study compares indoor VO systems that use RGB-D images, exploring methods to enhance depth information. We examine conventional image inpainting techniques and a deep learning approach, utilizing newer depth data from devices like the Kinect v2. Our research highlights the importance of refining data from lower-quality sensors, which is crucial for cost-effective VO applications. By integrating deep learning models with richer context from RGB images and more comprehensive depth references, we demonstrate improved trajectory estimation compared to standard methods. This work advances budget-friendly RGB-D VO systems for indoor mobile robots, emphasizing deep learning’s role in leveraging connections between image appearance and depth data.